CN104520179B - Dynamical system for riding vehicle - Google Patents
Dynamical system for riding vehicle Download PDFInfo
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- CN104520179B CN104520179B CN201380022419.0A CN201380022419A CN104520179B CN 104520179 B CN104520179 B CN 104520179B CN 201380022419 A CN201380022419 A CN 201380022419A CN 104520179 B CN104520179 B CN 104520179B
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- 238000005183 dynamical system Methods 0.000 title claims abstract description 77
- 238000005259 measurement Methods 0.000 claims abstract description 16
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- 230000009467 reduction Effects 0.000 description 16
- 238000012546 transfer Methods 0.000 description 13
- 230000005540 biological transmission Effects 0.000 description 12
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62M—RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
- B62M11/00—Transmissions characterised by the use of interengaging toothed wheels or frictionally-engaging wheels
- B62M11/04—Transmissions characterised by the use of interengaging toothed wheels or frictionally-engaging wheels of changeable ratio
- B62M11/14—Transmissions characterised by the use of interengaging toothed wheels or frictionally-engaging wheels of changeable ratio with planetary gears
- B62M11/145—Transmissions characterised by the use of interengaging toothed wheels or frictionally-engaging wheels of changeable ratio with planetary gears built in, or adjacent to, the bottom bracket
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62M—RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
- B62M6/00—Rider propulsion of wheeled vehicles with additional source of power, e.g. combustion engine or electric motor
- B62M6/40—Rider propelled cycles with auxiliary electric motor
- B62M6/55—Rider propelled cycles with auxiliary electric motor power-driven at crank shafts parts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62M—RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
- B62M6/00—Rider propulsion of wheeled vehicles with additional source of power, e.g. combustion engine or electric motor
- B62M6/40—Rider propelled cycles with auxiliary electric motor
- B62M6/45—Control or actuating devices therefor
- B62M6/50—Control or actuating devices therefor characterised by detectors or sensors, or arrangement thereof
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
- Structure Of Transmissions (AREA)
- Retarders (AREA)
Abstract
The present invention relates to a kind of dynamical system for being used to ride vehicle, including the first motor and the second motor, the second motor is engaged in bottom bracket axle, and the first motor is connected to planetary gear, and a planetary gear carrier is connected to the output panel of dynamical system, and it includes：Measurement assembly, is configured to produce the measurement signal for representing the torque that the first motor is provided；And control unit, the speed control signal for being supplied to the first motor is produced according to the angular speed of motor, and provide the torque control signal of the second motor.
Description
Technical field
The present invention relates to a kind of dynamical system for being used to ride vehicle, particularly bicycle, the dynamical system includes the
One motor and the second motor, and epicyclic train of gears, the epicyclic train of gears have planetary gear mounting and central gear, its
In, first motor is connected to epicyclic train of gears, and the dynamical system also includes a bottom bracket axle, on the bottom bracket axle
Crown gear is installed, the first input end of epicyclic train of gears is formed.
Background technology
Such dynamical system as known to WO 2010/092331 patent application.Known dynamical system is used for electronic auxiliary
Aided bicycle.Electrically assisted bicycle is by the bicycle promoted jointly as the mechanical force and manpower produced by driven by power.
These bicycles are different from being in place of battery-operated motor cycle, when cyclist tramples, and motorized motions, which only provide power, to be used to transmit.
In known dynamical system, bottom bracket axle drives the planetary gear carrier of epicyclic train of gears.Second motor be mainly used to generate electricity with
Battery is charged, and increases cruising time.
One deficiency of known dynamical system is, despite the presence of there is two motors, but be to provide the power of auxiliary compared with
It is low.Because only one motor helps to trample offer auxiliary for user.
The content of the invention
It is an object of the invention to realize a kind of dynamical system, the dynamical system is provided to be turned with two trampling for motor contribution
The electronic auxiliary that square (or pedal force) is directly proportional.
For this purpose, it is characterised by that the second motor is engaged on bottom bracket axle according to the dynamical system of the present invention, and the
One motor is connected to central gear, and planetary gear mounting is connected to the output chain gear of dynamical system, first motor and described
Second motor is respectively equipped with first sensor and second sensor, the first sensor and second sensor be configured to measurement with
The angular speed of its associated motor, the first sensor and the second sensor are connected to a control unit, the control
Unit is also associated with 3rd sensor, and the 3rd sensor is configured to measure the speed that cyclist starts bicycle, described dynamic
Force system includes a measurement assembly, is configured to produce measurement signal, the measurement signal represents that first motor is provided
Torque, described control unit is configured to angular speed and predetermined setting value and expression according to measured by the sensor
The measurement signal of torque, produces the first control signal and the second control signal, first control signal is offer to institute
The rotary speed control signal of the first motor is stated, second control signal is to mention that the torque of second motor can be arrived
Control signal.Because the second motor is engaged to bottom bracket axle, so the second motor auxiliary cyclist's tramples motion.Cyclist steps on
The summation of the power of power and the second motor produced by stepping on is transferred to the first output of epicyclic train of gears via crown gear
End.For the first motor, it is connected as a single entity via central gear with the second output end of epicyclic train of gears.Generally via a chain
The output chain gear of bar driving moment is connected as a single entity with the output end by planetary gear mounting and epicyclic train of gears.Therefore, export
The speed of sprocket wheel and two inputs, i.e. crown gear and planetary speed is linear, and its torque is with being forced
Setting value input torque it is directly relevant.Therefore, when cyclist tramples, the two motors help to support the cycling
Person.In normal operating, three independent sectors of epicyclic train of gears rotate in same direction.Due to the frictional force and part of bearing
Mobile relative velocity is directly proportional, so this just improves efficiency by limiting the frictional force of bearing.
It is characterised by according to the first preferred embodiment of the dynamical system of the present invention, the control unit includes an input
End, for receiving gear ratio signal, the gear ratio signal represents cyclist's number of teeth selected from the gear ratio of predetermined number
Than described control unit is additionally configured to produce first control signal according to the gear ratio signal received.Therefore,
Provide a kind of system for electronic change gear ratio to substitute existing system (chain speed changer or internal gear for cyclist
Speed-variating hub).Speed change is electronically controlled by gear ratio signal.Therefore, gear shift can come in two different ways
Complete：Gear ratio manually changes (control handlebar) or changes the ratio influenceed by control unit automatically.The present invention is also provided and obtained
Obtain the possibility (not being discrete ratio) of continuous variable transmission.The present invention then can the common suggestion two kinds of ratios turn of the person of being used for
Change pattern：Manual discrete rate mode, for liking maintaining more traditional user；And continuous ratio automatic mode, make to ride
Car person is constantly in optimal gear ratio (ratio that the 2D tables between cyclist's torque and travel speed are calculated).This mode
It is more natural mode, still, which is not precluded from continuous ratio manual mode (rotation handlebar) and discrete ratio automatic mold
Formula.Further, since the system rapidly and can will not change ratio with suddenly pausing under torque, so the system is provided
Comfortable transmission.
It is characterised by according to the second preferred embodiment of the dynamical system of the present invention, the control unit is arranged to production
Raw weighted signal, and for producing first control signal by the weighted signal, the weighted signal is by measuring
Second motor angular speed with being obtained from received gear ratio signal multiplication is weighted by the speed reducing ratio of second motor
.Thus gear ratio signal can easily be taken into account.
Brief description of the drawings
The present invention is described referring now to drawings below, those figures show according to presently preferred embodiments of the present invention.Wherein：
Fig. 1 is related to the schema for the bicycle for being equipped with the dynamical system according to the present invention.
Fig. 2 shows the profile diagram for the bicycle being made up of bottom bracket casket that can accommodate the dynamical system of the present invention.
Fig. 3 diagrammatically illustrates the power chain of the normal operation of the dynamical system according to the present invention.
Fig. 4 shows the decomposition view of the dynamical system according to the present invention.
Fig. 5 shows the installation of epicyclic train of gears and output chain gear.
Fig. 6 shows the sectional view of the dynamical system according to the present invention.
Fig. 7 shows the engagement of epicyclic train of gears and bottom bracket axle.
Fig. 8 shows planetary gear mounting.
The schematic diagram of various assemblies necessary to Fig. 9 shows control motor.
Figure 10 shows the block diagram for the setting speed value for calculating variable speed driver.
Figure 11 shows that the block diagram in the setting torque value of traction motor is forced in calculating.
Figure 12 shows the flow chart of the control logic of control unit.
Figure 13 shows another embodiment of the dynamical system according to the present invention.
Figure 14 shows the relation between the angular speed for trampling angular speed and the first motor.
Figure 15 to Figure 17 shows gear ratio.
Figure 18, which is diagrammatically illustrated, to be provided to the auxiliary of cyclist.
Figure 19 shows another embodiment of the dynamical system according to the present invention.
Embodiment
In the accompanying drawings, identical reference represents same components or similar assembly.The dynamical system of the present invention will now be described
Application of the system in bicycle.However, the present invention is not limited to bicycle, and suitable for any instrument with pedal.
Fig. 1 diagrammatically illustrates the bicycle 40 for being equipped with the dynamical system according to the present invention.Show in more detail in fig. 2
Go out, bicycle includes vehicle frame 43 and bottom bracket 27.The vehicle frame includes bottom bracket casket 1, and it has between 15 and 20 centimetres
Diameter, it is wider than conventional bicycle frame.The casket allows to dispose the dynamical system according to the present invention at least in part.In dynamical system
Output there are output chain gear 23, it is by the rear little gear of driving moment 41.Dynamical system proposed by the present invention is
Center driven, that is to say, that the system is located at the bottom bracket of bicycle, is that bicycle seeks to obtain alap center of gravity, so as to carry
The stability of high bicycle.The critical piece of dynamical system is inserted into the casket 1 of the bottom bracket of bicycle and is made body.In figure
In example shown in 2, a traction motor 4 of an only part for composition dynamical system is positioned in the bottom bracket of bicycle
The outside of casket 1.
As schematically shown in Figure 3, dynamical system includes two electro-motors：
Referred to as first motor 5 of " speed changer " (being denoted as MV), in bottom bracket casket,
Referred to as second motor 4 of " tractor " (being denoted as MT), is fixed on the outside of bottom bracket casket.
Dynamical system is connected to battery 30, and the battery 30 is particularly used for powering to dynamical system.Dynamical system it is main
Part is fixed on the inside of bottom bracket casket 1.Traction motor 4 is acted on the axle of bottom bracket by reduction gearing 32.Reducing gear
Wheel 32 is also driven by cyclist 31.Traction motor is added 33 with the traction that cyclist is provided and is transferred to epicyclic train of gears 24
The crown gear 12 for being itself coupled to output chain gear 23.
Fig. 2 and Fig. 4 to Fig. 8 shows the embodiment of the dynamical system according to the present invention.In addition to the second motor, move
Force system is located at the inside of bottom bracket casket 1, and is then closed by two plates 2 and 3, and the two plates also serve as traction motor 4
Support.First motor 5 includes stator 20, and it is co-axially mounted relative to rotor 19.Winding stator 20 is fixed on bottom bracket casket
It is interior.First motor is connected to the central gear 13 for the part for constituting epicyclic train of gears 24.Epicyclic train of gears is by three independent parts
Point, i.e., central gear 13, planetary gear mounting 14 and crown gear 12 are constituted.It is preferred that planetary gear is integrally mounted to
The rotor 19 of one motor 5.As Fig. 5 is best illustrated, epicyclic train of gears also includes the first small planetary gear group 15 and second largest
Planetary gearsets 16.It is preferred that each planetary gearsets include three gears, because this allows moving parts and epicyclic train of gears
Weight between it is well balanced.It is preferred that the same planet axis 17 that the first asteroid group and second largest planetary set are both secured to.
It should be noted that asteroid 15 and major planet 16 are all connected with planet axis 17.As shown in Figure 5 and Figure 8, the first asteroid
Group and second largest planetary set are arranged on the both sides of planetary gear carrier 14.Central gear engages to increase planet tooth with major planet 16
Take turns the speed of mounting 14.This is due to speed and the crown gear 12 of planetary gear mounting 14 and the speed of central gear 13 into line
Sexual intercourse.Output chain gear 23 is arranged on planetary gear mounting 14.Output chain gear is used to install chain or cog belt 21 thereon,
With the little gear for be driven bicycle rear by its rotation.First asteroid component 15 and the first tooth being located inside sprocket wheel 12
12' is intermeshed, and itself is turned into a part for epicyclic train of gears.Second tooth 12 of sprocket wheel " engages with the second motor 4, is
This purpose, it is provided with driving pinion 7.Transmission between driving pinion 7 and sprocket wheel is entered in a sealing fashion by closing lid 6
OK.It is preferred that for example by the groove not shown in figure, bottom bracket axle is connected with the sprocket wheel 12 of epicyclic train of gears.Certainly, may be used
Other anti-rotation systems are set bottom bracket axle and crown gear is fixed together.
As shown in fig. 6, bottom bracket axle 11 runs through epicyclic train of gears, and supported by bearing 9.It is connected to the coronal of bottom bracket axle
Gear 12 is so as to be formed as the first input end of epicyclic train of gears.In normal operation, the driving asteroid 15 of crown gear 12, from
And rotate the planetary gear mounting 14 with the one of output chain gear 18.The drive chain of output chain gear 18 or dentate band 21.Seal thin-walled
10 separate epicyclic train of gears and variable speed driver 5.Many dry seals provide close between variable speed driver 5 and lubricating mechanical components
Envelope.Finally, control unit is preferably disposed adjacent in the housing 50 of motor placement, to limit the layout of electric wire.The housing compared with
It is circular goodly, to match the shape of bottom bracket casket.
In normal operation, two gear trains being formed by driver pinion 7 and crown gear 12 drive collet
The axle 11 of frame, the auxiliary cyclist of traction motor 4.This is due to that the little gear 7 of the second motor 4 is engaged in the tooth 12 of crown gear "
On, the little gear rotation of the second motor driving will driving crown gear rotation.According to another embodiment (not shown), little gear 7
Can be with the driven pulley being installed on the axle of bottom bracket.The torque that second motor 4 is provided is combined to make crown gear with manpower
12 rotate.If the second motor 4 has benefited from the change (variable propagation) of gear, so that with higher completely as cyclist is wanted
Efficiency operation, then it is this configuration be more favourable.According to the dynamical system of the present invention in multiple gear ratios, or single gear ratio
Lower operation.
Each motor has its function.The purpose of variable speed driver is, either aid in rank (=provide total electricity and
The ratio of provided manpower) how, or velocity of rotation how, the transfer ratio forced of control unit is continuously provided.In fact, passing
It is defeated to compare dependent on the speed of variable speed driver 5 and the ratio of the speed of bottom bracket 27.This ratio, which is equal to, is denoted as bottom bracket
The coefficient of angularity of the straight line of the velocity variations of the variable speed driver of the function of speed, will be described in further detail as follows.Therefore, it is possible to maintain
Constant transfer ratio, while keeping coefficient of angularity constant.To change ratio, cyclist changes the value of the coefficient of angularity.Therefore, become
Speed motor is with angular speed control, to complete the function of its speed converter.Certainly, power is also fed conveyor chain by the motor
In, therefore in addition to the friction no doubt occurred, its whole power returns to wheel.The rotor 19 of first motor is arranged on freewheel 18
On, the freewheel 18 is itself mounted within chassis 29, to prevent the first variable speed driver from rotating in mutually opposite directions (pre- with bottom bracket
Determine the opposite direction in direction of rotation).The function of this freewheel is, in the case where interrupting any kind of motor supply, to make pure machine
Tool power is transmitted for wheel operation.Therefore, in the case of motor failure, cyclist can still trample and go home.The operation mode pair
Should be in minimum transfer ratio.During this pattern, the first variable speed driver is not powered on, and the second traction motor can provide for auxiliary
Cyclist.
Traction motor 4 aids in the motion of cyclist by increasing the torque on bottom bracket., should under specific working order
What motor can also brake cyclist tramples motion.In fact, its role is to regardless of " gearing " transfer ratio, and no matter travel
How is speed, continuously forces the auxiliary rank thereon in accordance with control unit.The motor is controlled in torque.
Traditional freewheel can be also assembled in the rear little gear of wheel in the bicycle for installing dynamical system thereon, for working as
Bicycle during progressive rolling movement, prevents chain (or band) from rotating because of inertia.In another modification (described below), without using centre certainly
In the case of wheel, using the little gear for being fixed on wheel, so as to brake variable speed driver, and so as to be filled again to variable speed driver
Electricity.
The control of two motors will be described in further detail now.First motor 5 be supplied to the torque of planetary gear mounting by
The pressure of road rule.It is controlled to speed with accordance with transfer ratio setting value.Due to the second motor by gear or other
Crown gear is connected to Transmission system motion, so the speed of the second motor is forced via the rate of trampling of cyclist.Therefore, its
It will be controlled in torque, to aid in the cyclist in making great efforts.Setting speed value is to trample the linear function of speed, multiplication constant
The speed that is travelled depending on the selected gear ratio of cyclist or by control unit according to cyclist is determined.For this purpose, control
Unit processed includes an input, and for receiving gear ratio signal, the gear ratio signal represents the number of teeth of the cyclist from predetermined number
The selected gear ratio than in.When gear, which becomes, turns to automatic, dynamical system includes 3rd sensor, and it is connected to control unit,
And it is configured to measure the speed of cyclist's propelled bicycles.Then, control unit is arranged to according to measured speed,
Produce the gear ratio signal for the gear ratio for representing to be selected from the gear ratio of predetermined number.
Another advantage of this dynamical system is, if omitting the freewheel being initially mounted in wheel little gear, this is moved
Force system can have braking function, and the ability recharged therefore, it is possible to reclaim braking energy to battery.Now, if voluntarily
Car is dashed forward with some inertia, or is travelled in descending, and chain rotates the output chain gear of simultaneously driving power system.Due to output chain
Wheel is connected to planetary gear mounting, so that the effect of the existing starting power difference of planetary gear mounting.It would tend to turn variable speed driver
Dynamic (along its orthogonal direction), now variable speed driver is controlled as generator, with brake bicycle, and therefore dynamic to battery transmission
Power.For example, the system can be trampled and is activated after, such as torpedo system (torpedo system).So as to according to cyclist
The power and the amount for the energy for being supplied to battery of the controllable braking of rear pedal force applied.
Under minimum number of teeth ratio, the first motor 5 is not powered.Only the second motor participates in electronic auxiliary.Pass through freedom
Take turns 18 central gears and be braked, framework (left arrow (2)) is connected to the rotor 19 of the first motor 5 by the freewheel 18.For
Increase transfer ratio, it is necessary to start the first motor 5.Then, the first motor begins participating in overall electricity auxiliary.The speed of first motor increases
Plus it is higher, transfer ratio will increase more, and will more participate in overall auxiliary.
Fig. 9 diagrammatically illustrates the electrical connection of motor 4 and motor 5 and control unit 38.It is preferred that each motor is assembled
Have a hall effect sensor 35,36, rotor per revolution its can count down to 6.Information from sensor is sent to control
Unit processed is used to analyze.Control unit also calculates the electric current injected in each motor, to calculate the torque (torque on each motor
It is directly proportional to current strength).Finally, if it is desired to obtain multiple gear ratios, then the velocity sensor 37 of wheel is for control
Unit is necessary.Forced to measure by cyclist on the torque on pedal, axle of the control unit using two motors
Torque is calculated.Because torque is directly proportional to the electric current in the induction coil by d.c. motor, its can easily by
Measurement.When cyclist accelerates, control unit can be calculated voluntarily for example with the equation of motion of epicyclic train of gears by motor speed
The speed of car.When Bicyle inertia is slided, the speed of wheel and the speed of output chain gear are decoupled, and accordingly, it would be desirable to speed is passed
Sensor 37.
Physics must be resorted to according to the understanding of the operation of the dynamical system of the present invention, and for this purpose, first will be to thing
Reason knowledge is described.Due to multiple abbreviations will be used, so being defined first in table to these abbreviations.
| Symbol | Title | Unit |
| ωplat | The angular speed of output chain gear | [radian per second] |
| ωMV | The angular speed of the central gear of first motor | [radian per second] |
| ωMT | The angular speed of second motor | [radian per second] |
| ωped | The angular speed of bottom bracket | [radian per second] |
| ωR | The angular speed of the trailing wheel of bicycle | [radian per second] |
| ωpAR | The angular speed of little gear afterwards | [radian per second] |
| CX | Component x torque | [N·M] |
| PX | Component x power | [W] |
| R | The speed reducing ratio of epicyclic train of gears | [S.U.]* |
| Rtrans | The speed reducing ratio of transmission | [S.U.]* |
| RSecond motor | The speed reducing ratio of second motor | [S.U.]* |
| E | Velocity interval | [%] |
| demul | The reduction of speed ratio existed between the speed of pedal and the speed of trailing wheel | [S.U.]* |
| NivAssist | Electronic auxiliary rank | [S.U.]* |
| a | The multiplication constant of the speed of first motor | [S.U.]* |
| mes | Mean " to measure " | / |
| err | Mean " mistake " | / |
| cons | Mean " setting value " | / |
* (s.u.)=without unit
First, for the ease of understanding relationship, it will be explained without the second motor 4 in the case of traction motor
Demonstration.Epicyclic train of gears contributes to the main innovation of the new driving.It should be noted that the applicable relational expression of epicyclic train of gears
For：
Wherein, R is limited by the size of the component (that is, with little gear and mafor planet gear) of double epicyclics train of gears.
Rotary speed ωplatWith the torque C of sprocket wheelplatForced by travel conditions, it forces CMVAnd Cped(relational expression (2)).
However, this is just produced to ωpedAnd ωMVUnrestricted choice.Speed is trampled actually by cyclist to be forced, and according to traveling shape
Condition, it is average between 30 and 90 revs/min.This enables to adjustment rotary speed to provide auxiliary, and in necessary situation
Under, also gear ratio can be manually changed by cyclist.According to relational expression (2), it is related to the torque of variable speed driver to trample torque,
And the torque of variable speed driver is measured by measurement by the electric current in inductance.Therefore, according to the power of the present invention
System tramples torque sensor without any.The torque sensor used in due to being driven in another type is complicated and very
Costliness, so for the cost of mechanism, this is very important advantage.
When the first motor 5 is powered off, the driving row of crown gear 12 for the epicyclic train of gears being connected with the axle of bottom bracket
Star 6 and planet 15.Now, by be connected to by freewheel bottom bracket casket framework central gear 13 not by the first motor institute
Driving, so being stuck in zero-speed.Therefore, under minimum reduction of speed ratio, the planetary gear mounting 14 of output chain gear 23 is connected to slightly
Driven less than the speed for trampling speed：
For increase reduction of speed ratio, it is necessary to start the first motor 5, then, first motor 5 is via free wheel drive epicyclic gear
The central gear 13 of system.Now, central gear 13 is rotated with the speed more than zero.This time, represented by sprocket wheel relationship below
Speed is rotated：
Wherein, ωMV＞ ωped。
According to the gear ratio (electronic selector or any automatic mode on handlebar) interlocked, the rotation speed of the first motor
Spend ωMVIt will be equal to and trample rotary speed ωpedIt is multiplied by a factor alpha.Therefore, from cyclist or automatic controller to changing speed
Request will change factor alpha.Therefore, adjusted using the information regulating loop of the sensor of the angular speed for the axle for measuring bottom bracket
The speed of first motor 5.The function is carried out by limiting reduction of speed (represent the reduction of speed of bicycle than simplification of terminology).This be because
For holding constant coefficient " α " is constant, and reduction of speed also keeps constant.Increase coefficient " α ", reduction of speed also increases.
Wherein avec ωMV=a. ωpedWith a ∈ [0：vallim], it is readily available
It should be noted that for each gear ratio interlocked, the artificial change that cyclist undergoes reduction of speed will not
Same auxiliary rank is imposed to dynamical system.In fact, to reach dynamic equilibrium, can be limited by electric power divided by manpower to calculate
Fixed auxiliary rank.
Pplat=Pped+PMV=Cped.ωped+CMV.ωMV
The ω in relational expression by changing above-mentioned restrictionMVAnd CMV, it is readily obtained：
Auxiliary rank is defined as the ratio between the total electricity of supply and the total electricity for being supplied to output chain gear.Here, should
Define and be generalized following formula：
Therefore, auxiliary rank fully increases with the rotary speed of the first motor.This means sinking speed than when, it is auxiliary
Help rank relatively low, and for high reduction of speed ratio, auxiliary rank reaches maximum.
Second motor 4 is also included according to the dynamical system of the present invention.Second motor of referred to as traction motor has and several had
Profit effect.Obviously, its first effect is the degree of gaining freedom under the control of the dynamical system, so that auxiliary rank is suitable for any
Situation.Second motor is directly connected on the axle of bottom bracket via deceleration gear group, so that, it can increase under sinking speed ratio
Aid in rank.Configuration of second motor 4 in power chain is favourable：As cyclist wants, the motor is benefited from
Reduction of speed ratio, so that in the case where needing the travel conditions of larger effort, such as abrupt slope or turns when being travelled on the ground of deformation there is provided height
Square.It is defined as electric energy the ratio for being supplied to the gross energy of output chain gear is defined as to aid in rank, is then launched into：
The formula is changed with the relational expression of foregoing establishment, following result is obtained：
Therefore, the second motor will be controlled in the case where providing the good other torque settings value of compole with closed loop manner,
Reduction of speed ratio that geometry that its rotary speed is transmitted over is determined and forced by trampling speed.
ωMT=RMT.ωped
In the case of without freewheel, because the motor is directly related to bottom bracket, so can be operated with braking mode,
There is provided to the other master control of compole in all cases.Under generator mode function, return to what is produced in variable speed driver
Energy pure to trample in pattern (without the electric current from battery) with the traveling of the speed more than governing speed.Therefore, this enters
Journey will substitute the second epicyclic train of gears added for the function.
Finally, the speed of the trailing wheel of bicycle via the reduction of speed ratio that the geometry of little gear is forced the speed of output chain gear
Degree is mathematically related.This transmission relational expression be：
ωR=Rtrans.ωplat
Figure 10 shows the block diagram for the setting speed value for calculating variable speed driver.The angular velocity omega of the second measured motorMT
With divided by the second motor speed reducing ratio RMTReduction of speed factor alpha be multiplied, to form the setting angular velocity omega of the first motorMV.Control is single
Member 38 is installed in regulating loop, to ensure that the first motor is electrically charged really, so as to set angular speed rotation.In order to keep
Constant transfer ratio, it is necessary to, the coefficient of angularity of " speed of the first motor-trample speed " straight line is constant.Therefore,
The speed that speed is directly proportional of trampling with identical gear ratio is forced at variable speed driver by control unit.Change the angle of " α " sign
The value of coefficient is enough to change transfer ratio.
Figure 11 shows that calculating is forced to the block diagram of the setting torque value of traction motor 4.It depends on turning for the first motor 5
Torque on son.The setting torque value of second motor is also by depending on the auxiliary rank forced cyclist.Epicyclic train of gears
Speed reducing ratio R is added with multiplication constant, is then multiplied by the auxiliary rank determined.Then, by the auxiliary rank and first through determination
Torque measured by motor, it is determined that the setting torque value C for the second motorMT.Regulating loop is provided to ensure the second motor
Torque determined by the torque of setting value is provided.
Figure 12 shows the management performed by control unit by flow chart.When dynamical system is powered, the second horse is measured
The angular speed reached.If it greater than zero, it is determined that the setting speed value of the first motor and the setting torque value of the second motor.Preferably
Ground, before setting value is provided for motor, checks whether braking sensor is activated.
As long as it was previously stated, the first revolution, that is, ensure that the good operation of dynamical system at high speeds.However, one
A little countries forbid electronic auxiliary to exceed certain limitation (25 kilometers/hour of Europe, 32 kilometers/hour of Canada).This will meaning
, once reaching speed limit, variable speed driver is to power off, so as to change to minimum gear ratio from high gear ratio, and if cycle
Person wants to exceed this speed, will be placed on uncomfortable situation.In order to avoid this unhappy, it is necessary to find a technology solution
Certainly scheme makes it possible to gear ratio being maintained close to the gear ratio that cyclist oversteps the extreme limit before speed.
In face of the problem, there are three kinds possible solution：
1. maintaining body is simple, so as to remove two motors.If cyclist attempts to exceed speed limit, he will be forced to turn
To smaller gear ratio, this makes it difficult to use under more than the limit.
2. set up the system for the higher gear ratio of mechanical caging：
A. by the second epicyclic gear assembly into mechanism, wherein crown gear is freely rotated under " auxiliary " function, and
And be once braked, and motor is parked in " pure to trample " pattern, it will start output chain gear via chain.
B. integrated axle, the axle is made up of two toothed wheels of different sizes, and one of them would be attached to axle, and another will
Driven by dog-clutch.Sprocket wheel is connected to bottom bracket by the axle using the reduction of speed ratio close to two.
C. being equipped with every one end on the bearing of toothed wheel increases axle, and bottom bracket is connected directly to output chain by the axle
Wheel.
3. the simplicity of maintaining body, and the second motor is used in the generator mode, think that variable speed driver is powered.
These three solutions will now be illustrated one by one.
The first solution have the advantages that it is simple and least expensive, although however, the speed more than 25km/h is seldom
It is used on electric bicycle, but may still frightens the following buyer of this type of technology away.
Second of solution needs the moving parts applied to basic system, so that weight, complexity and manufacture
Cost is excessive.However, despite the presence of these constraints, but the mechanism finally given is still favourable.It should be clear that in the function
Under, the freewheel added between the rotor and central gear of the first motor enables to the rotation of central gear compared with the rotation of rotor
Turn fast.
Figure 13 shows the operation of the option (2a) with extra epicyclic train of gears.Epicyclic train of gears TE2 insertions TE1's is same
Side.In this configuration, TE1 (bottom bracket) crown gear is in fact connected to TE2 planetary gear mounting, and TE1 (chains
Wheel) planetary gear mounting be connected in TE2 central gear.Under " auxiliary " pattern, TE2 crown gear idle running.Once touch
" pure to trample " pattern of hair, actuator locks TE2 crown gear, and now TE1 central gear is with fast faster compared with the first motor
Degree rotation, wherein the first motor stops the fixation of (freewheel between the two) and bottom bracket via the internal ratio dependent on TE2
Gear ratio, itself driving output chain gear.
This solution needs to insert extra epicyclic train of gears, mechanical locking system (braking type) and extra actuating
Device is to realize the simple functions that the user of electrically assisted bicycle seldom uses.The configuration also adds somewhat to system
The difficulty made and assembled, and possible sealing problem.Finally, the addition of part often increases cost, weight and the body of mechanism
Product.
According to the third solution, provided with active lock toothed wheel.Compared with basic system, axle is added in top
And toothed wheel.Axle is fixed in the framework of dynamical system via bearing.Toothed wheel 3a is secured to axle and and by TE1 (collets
Frame) crown gear driving.2nd wheel is rotated with axle, but axially free translation.1st wheel is arranged on bearing (or needle roller cover), and
Therefore, in " auxiliary " pattern, depart from its axle.Power from the second motor relies on is transmitted bottom with the wheel of helical tooth the 2nd
Bracket.Axial thrust produced by helical gear drive makes the 2nd wheel be kept away from the 1st wheel.Once " pure to trample " pattern of triggering, bottom
The motor of carriage drive first, also, now the axial thrust of helical tooth pushes the 2nd wheel to locking in the therein 1st wheel.Therefore,
Now, output chain gear is taken turns the ratio with the number of teeth of the 3rd wheel and directly driven by bottom bracket with speed reducing ratio, the especially the 1st.With solution party
Case (a) is compared, and second mechanical solution needs less part, and therefore lighter.Because its solution need not
New actuator, so seeming less expensive and less complex.However, there is the risk related to the sealing of assembling all the time, and
And the solution has the bigger risk of axial volume.
Dynamical system also has the function of short-circuit axle.Once engagement, being equipped with the axle of two toothed wheels actually makes collet
Axle and the output chain gear short circuit of frame.It is by the toothed wheel ratio of application positive mechanical speed.This alternative solution is three kinds of replacements
It is simplest in scheme.This is also undoubtedly generally the least expensive.Unique difficult point is engagement level.Finally, extra part is often
Cost, the weight and volume of mechanism can be increased.
Relative to Fig. 4 to the fundamental system shown in Fig. 7, the third solution is without increase supplement mechanical part.Should
Technology belongs to Power Electronic Technique.Its principle includes：Using the second traction motor as generator, and by so as to the electric power produced
It is injected into variable speed driver.To run the solution, it is necessary to, the mechanical attachment between the second motor and bottom bracket is can
Inverse, and therefore any freewheel is not installed between the two.
The function of the system is following (Figure 12).Here, the energy of the leg from cyclist is carried out with dual mode.Wherein
One of be the crown gear for directly driving TE1, and another then drives central gear via the second motor and the first motor.It is real
On border, the second motor starts via reduction gearing, thus produces the electric current of the first motor of supply.The braking moment of second motor by
To control, to limit the energy part by this loop, so as to limit the gear ratio of overall transfer.By changing motor armature
The phase in interior magnetic field, electronically to complete the control of brake force and so as to complete the control of the electric power of supply.It is this to solve
Another advantage of scheme is, in the case of cyclist's effort prevents the gear ratio that the first motor keeps gearing, can reclaim
A part for torque is used to charge to battery.Under identical mode, a period of time (the is operated under height in freewheel
One motor reaches its setting speed value again) after, when trampling motion and restarting, the motion of bottom bracket can be braked (with extensive
Its multiple residing gear ratio before freedom of entry wheel).
The shortcoming of this solution is that the efficiency in the second energy loop is low.Because brushless electric motor has about
85% efficiency (assuming that the efficiency under generator mode is also identical), the efficiency of transmission about 72% of the second energy mode, so as to drop
Low overall transfer efficiency.This will use the more muscle power of bicycle needs under " pure to trample " pattern.A kind of method is that increase is ridden
Perception of the car person to efficiency of transmission, and therefore battery provides a small amount of energy to make him feel to travel " routine " bicycle.So as to electricity
The pond energy loss caused by the operation of this type is made up.This can cause energy loss and therefore endurance loss, but such as
Fruit consideration uses more than the percentage of the electrically assisted bicycle of speed limit, and this design is feasible.In addition, this idea is very
There is prospect, because mechanism design is very simple, light weight, compact and manufacturing cost is low.Here it is this solution is considered as
Best reason.
A kind of modification of this technology is to use the second hair motor as generator, so that produced electric power be sent to
Battery, and so as to supply variable speed driver from battery.It is battery powered certain better quality (voltage, speed), and bicycle
Operation is so as to more preferably.Such scheme corresponds again to design as described above, but wherein by another way come
Use electric power.However, it is necessary to check such operation relative to recognizing drivable receiving.
Another major advantage of the third solution is, " pure to trample pattern ", in addition in cell malfunctions or
Completely in the case of electric discharge, can travel with multiple gear ratios, and three variables of second of solution only allow it is minimum with
The transmission of maximum ratio.
Illustrate the function of the dynamical system according to the present invention referring now to Fig. 9, Figure 10 and Figure 11.Each motor is equipped with
It is adapted to the Hall sensor of its own, and the angular speed of each motor so measured is sent to control unit.Control unit
It is additionally configured to obtain the measured value of load torque by measuring by the electric current in stator armature.Therefore, in " auxiliary "
Under pattern, control unit can the torque of two motors of unrestrained section and angular velocity information at any time, this is just constituted quite
Big advantage.Because, it is known that the central gear (the first motor speed) and the speed (second of crown gear of epicyclic train of gears
Motor rotary speed), the speed of output chain gear is calculated by the foregoing relational expression listed and hereafter repeated.Then, only knowing
Under the torque of central gear (the 1st motor), it is easy to release turning for crown gear (bottom bracket) by following second relational expression
The torque of square and planetary gear mounting (output chain gear).
Therefore, by following relationship, it can obtain (using C by the torque that cyclist is applied to pedalHommeTo represent)
Information：
Therefore, control unit adjusts the torque of the first motor by regulating loop.
Therefore, the measured value for the torque that the moment information of cyclist is provided by two motors is obtained.Information it is last
One, that is, the information that the velocity sensor being installed on front-wheel or trailing wheel is provided, the control to dynamical system is necessary.This
It is because when bicycle considered to be in " freewheel ", the speed of trailing wheel likely differs from the speed of wheel little gear.Therefore,
The correct speed of bicycle must be known, to know whether play dynamic auxiliary.
As it was previously stated, the main function of the first motor is to provide required transfer ratio.Therefore, the first motor is adjusted, to abide by
Follow setting speed point.The set point is actually the speed reducing ratio of coefficient " α " divided by the second motor, is then multiplied by the second motor of assembling
Hall sensor velocity measurement.
Whether it is " automatic " pattern or " manual " pattern depending on driving, the coefficient " α " is by control unit or cyclist's sheet
People forces.Both speed management patterns will be described below.
Second traction motor will provide the power of missing, with the auxiliary rank of " NivAssist " needed for meeting.So,
The motor will by especially being worked under low gear ratio (the first motor is that the less power of wheel is used for the function), and with
Multiplication constant " α " increase, its power gradually weakens.It note that auxiliary rank is defined as institute's supply electric power and driving output chain
The ratio between total output on wheel.Under auxiliary mode, represented by following relationship：
Speed multiplication constant " α " is calculated as selected by cyclist, or by fluid drive algorithm.R and motor RSecond motorIt is adapted for
The fixed dimension of gear.CMVIt can be measured by control unit (measured value of current strength).In order to required compole
Not, the torque of the second motor need only be controlled.Therefore, traction motor is adjusted, to follow setting torque value：
Therefore, control unit must Integrate adjustment loop (Figure 11), the torque of the regulating loop the second motor of regulation.Should
It is noted that the setting torque value of the first motor can be positive or negative.In the case of it is bears, the first motor is transported with generator mode
OK, and so as to be charged to battery.
As it was previously stated, completing the change of fast ratio by controlling multiplication constant " α ".α minimum value is zero, and it is worked as the sun
When the freewheel that gear is connected to bottom bracket casket is locked, it corresponds to the first mechanical ratio.By increasing factor alpha, pedal
Reduction of speed increase.This can also be referring to figure (Figure 14), and coefficient a is actually the slope of the angular speed of the first motor.
ωMV=a. ωped
Technically, dynamical system will assemble a standby small electronic box, and the small electronic box is by two electronic button structures
Into, and be fixed on the handlebar of bicycle, and information transmission is returned into control list via electric wire (alternatively, wireless technology)
Member.One in two buttons is used for gathering way, and another is used for reducing.Therefore, drive system serves as list type electronics
The effect of gearbox.Therefore, the numeral of discrete ratio is imported in the computer for managing driving, wherein, the numeral of discrete ratio is respectively
Corresponding to the value of factor alpha.By pressing the "+" button, control unit changes to follow-up higher value Zi a value of " a ".Pass through
"-" is pressed, control unit is switched to the relatively low value of " a ".This operation passes through the example shown in Figure 15 and is illustrated.Driving
Including five discrete ratios.When 1st speed corresponds to α=0, and the 5th speed is for example corresponding to high specific or α=2.However, these
Numeral can not represent final size.Middle scale is such as：α=0.4, α=1 and α=1.5.Represent speed by this way
Level.Index M represents that the ratio is " machinery ", and index E represents that the ratio is " electronic ".
If cyclist accelerates to 25km/h since static, he will continuously change ratio until last.In switching ratio
When, he adds the α values in control unit.
The advantage of the manual mode is that be supplied to cyclist as desired by it is adapted to gear ratio with speed change
There is provided high-quality speed change possibility for device bicycle.Because under this systems, under torque and even when static,
Quick (double-clicking, three hit) still is able to complete speed change.In addition, here, the control of speed is electronic type rather than mechanical, it is carried
Supply easily to think according to what is ordered, and provide system higher stability.It both without adjusting (again), was damaged again, or fault-free
Risk (fracture of metal cable).In a word, it has great gain in the comfort level that gear is used.
Under the mode of fluid drive, cyclist no longer determines to be sent to the value of the coefficient " α " of control unit.Coefficient " α "
Now by control unit itself is calculated according to some parameters.Then, image (cartography) implantation control ratio changed
Unit processed (the automatic compartment as being used for automobile is controlled).The image provides " α " value to be applied according to two parameters：Bicycle
Torque in speed and bottom bracket.Figure 16 provides image in an illustrative manner.Schematic diagram in Figure 16 describes such reality
Example：Dense black " upshift " rule and somber " kickdown " rule, represents the change point of the speed raising and lowering of three speed gearbox
Position (i.e. coefficient " a ").
For automated manner, by increasing capacitance it is possible to increase the number of unlimited available ratio (is also claimed with obtaining continuous variable transfer ratio
For " CVT ").It means that not being that, with a limited number of discrete ratio, but motor will continuously change multiplication constant " a ".
The representative graph is shown in Figure 17.Because the advantage without speed control case, automated manner is that system to be installed is very simple
Single.This also releases the space on handlebar, and provides bicycle exquisiter style.Such control can be more suitable for wishing
Hope the people of high driving comfort.
It will now illustrate under normal mode (" auxiliary " pattern), the side of the first variable speed driver 5 of control and the second traction motor 4
Formula.Figure 18 shows the auxiliary provided according to the landform of cyclist's displacement.Start to mean that bicycle starts since static.One
The speed of denier bottom bracket reaches certain threshold value, just triggers auxiliary.In the case, bottom bracket is resulted in via aforementioned formula
On moment information.Therefore, control unit is arranged to calculate the setting torque value to be applied to the second motor, and so as to be somebody's turn to do
Second motor starting.Under minimum speed ratio, the power-off of the first motor, and under other speed ratios, the first motor operation.Now, as before
It is described that two motors are adjusted.
For the reactivity of auxiliary, preferably, control unit must be received within the short response time comes from the first motor
Velocity information.For this purpose, the resolution ratio of preferably angular transducer is very thin.The problem of it should not have any this respect,
Because pedal and the second motor are separated by gear-box, the gear-box has about 20 ratio, it means that when bottom bracket only turns two
During ten point of one circle, the second motor turns around.If it is considered that three kinds of changes of the state of the second motor every revolution Hall sensor,
It will provide 6 degree on pedal of resolution ratio for us, and this should be enough.
However, if the reactivity of electronic auxiliary is too slow on startup, solution is included when the first motor is powered off, and repaiies
Use instead to lock the freewheel of central gear.The freewheel will be rotated freely (1 or 2 degree) in bottom bracket casket, and will have bullet
The breaker of spring is inserted into clearance.When cyclist promotes pedal so that its bicycle is moved, central gear will have along phase
The tendency that anti-direction is rotated, this will start the operation of the first motor and the second motor.
No matter hand gear or fluid drive, once coefficient " α " changes, the setting value of the first motor i.e. so as to change, and
And first motor change its speed.Manual mode can force acceleration/deceleration slope, to obtain linear and smooth speed change.As
Most of electrically assisted bicycles, dynamical system has the breaker being arranged in braking handlebar.Once control unit is received
Braking information, it cuts off two electro-motors.
When the torque for measuring cyclist is less than a certain threshold value, the second motor is cut off.Because the first motor is via multiplication
Coefficient " α " and be connected with trampling speed, so the first motor reduces its speed.If cyclist tramples backward, make bicycle
Rear little gear freewheel operating, then the first motor be cut off.
Because before cyclist has an effect on pedal again, all parts of epicyclic train of gears have stopped, so such as
Equally relaunched with when starting.Because freewheel is positioned in rear little gear (as being used for typical bicycle), therefore, band (or
Chain) do not rotate.Once capturing the velocity measurement of bottom bracket, the first motor is started (if speed is than being different from minimum immediately
Gear ratio), then, setting speed value is forced by the gear ratio of triggering.The regulating loop of second motor is also reactivated.
In the case of battery discharge or failure, pure trample can be carried out.In this case, cyclist is by simply stepping on
Step on, move its bicycle.(freewheel of central gear is by frame lock first with the first mechanical gear ratio traveling for its bicycle
It is fixed).Manually or automatically change follow-up ratio.Such energy will be obtained by the second motor：It must be supplied to first
Motor is to cause it in accordance with its setting speed value, so as to be run as under generator mode.The phase that its braking moment passes through control
Position control interchangeable.
When rate limitation of the cyclist close to " auxiliary " pattern, driving gradually decreases it and aids in rank first, with when certainly
Auxiliary rank zero when driving accurately reaches this limitation.From this point on, except battery be the first motor portion provide low
Outside the power of the loss in operation " the second motor generator ", all parts are such as the fortune " pure to trample "
Go running.Battery is charged once again, and this just can compensate for driving the loss caused by operation in the case.In which
Under, the energy that cyclist is provided integrally enters wheel (certainly, in addition to transmitting the friction caused).
Figure 19 shows another embodiment of the dynamical system according to the present invention.In this embodiment, the institute of dynamical system
There is component to be respectively positioned on sealing independently of in the housing 101 of cycle frame.Housing 101 includes three parts linked together,
I.e. right valve jacket 102 ', left housing set 102 " and top cover 103.Housing 101 is fixed on by the fixture of such as trip bolt formation
On cycle frame.In the case of necessity, cycle frame is adapted, or is designed in fixed shell thereon.Housing 101 includes
The axle 111 of bottom bracket at its center, two electro-motors 104 and 105, and electronic control circuit 106.
First motor 105 includes stator 120, is co-axially mounted relative to rotor 119.Winding stator 120 is fixed to right shell
Cover 102'.First motor is connected to central gear 113, constitutes a part for epicyclic train of gears 124.Epicyclic train of gears is only by three
Vertical part is constituted, i.e. central gear 113, planetary gear mounting 114 and crown gear 112.Central gear is preferably integrally installed
Onto the rotor 119 of the first motor 105.The epicyclic train of gears also includes one group of double-planet 115.Each double-planet 115 is by each other
Fixed two toothed wheels are constituted, and preferably two toothed wheels is of different sizes.Minimum gear is referred to as " asteroid " 116 ',
And maximum toothed wheel is referred to as " major planet " 116 ".It is preferred that in the presence of three double-planets 115, this is due to so to allow
It is well balanced between moving component and the weight of epicyclic train of gears.Each double-planet 115 is pacified by one or two bearing
In planet axis 117.It is preferred that planet axis 117 is fixed to the planetary gear mounting 114 of its side by two end
On, and be fixed in the reinforcing plate 114 ' of planetary gear mounting of opposite side.Central gear is engaged with major planet 116 ", with
Increase the rotary speed of planetary gear mounting 114.Because the rotary speed of planetary gear mounting 114 and crown gear 112
Rotary speed with central gear 113 is linear.Output chain gear 123 is secured to planetary gear mounting 114.Coaxially the bottom of around
The axle for the hollow output shaft 123 ' that the axle 111 of bracket is installed transmits the torque from the planetary gear mounting 114 positioned at left side
To the output chain gear for being located at the right side of housing 101.Output chain gear 123 is used to install a chain or toothed timing belt thereon, and it is used for
Then the little gear of driving bicycle rear.Asteroid 116' is engaged with the internal tooth 112' of bizet gear 112, turns into itself
A part for epicyclic train of gears.The external tooth 112 " being connected with crown gear 112 is engaged with the second motor 104, for this purpose,
It is provided with driving pinion 107.Transmission between driving pinion 107 and crown gear is by left housing set 102 " with the side of sealing
Formula is closed.The axle 111 of bottom bracket is for example secured to the crown gear of epicyclic train of gears by the groove (flute) not shown in figure
112.Certainly, other anti-rotation systems can be set bottom bracket axle is fastened to crown gear.
The rotor 119 of first motor 105 is guided by one or two bearing being contained in right valve jacket 102'.Through turnover
The axle 111 and output shaft of the bottom bracket of gear train are supported by two bearings.On the right, bearing is connected to output shaft 123'.
The left side, bearing is accommodated in housing 101.Assembling output shaft 123 ' and planetary gear mounting 114 are led with being formed by two bearings
The stiff member drawn.On the right, bearing is accommodated in housing 101.On the left side, bearing is equipped with freewheel 118 and connected
To the axle 111 of bottom bracket, for preventing planetary gear mounting 114 from being rotated with the speed of the axle 111 less than bottom bracket.If first
Motor is not powered, then freewheel 118 forces the rotor 119 of the first motor 105 to rotate with the axle same speed of bottom bracket.
Therefore, two inputs of epicyclic train of gears are rotated with identical speed, and output chain gear is rotated with identical speed (according to week
The equation of motion of rotating disk system).The configuration causes just in case the first motor 105 overloads or control system failure, still is able to keep
Torque is transmitted.
Claims (19)
1. a kind of dynamical system for being used to ride vehicle, the dynamical system includes the first motor and the second motor, and turnover
Gear train, the epicyclic train of gears has planetary gear mounting, crown gear and central gear, and first motor is connected to institute
Epicyclic train of gears is stated, the dynamical system also includes a bottom bracket axle, and the crown gear is connected to the bottom bracket axle with shape
Into the first input end of the epicyclic train of gears, it is characterised in that second motor is engaged on the bottom bracket axle, and institute
State the first motor and be connected to the central gear, the planetary gear mounting is connected to the output chain gear of the dynamical system, institute
State the first motor and second motor is respectively equipped with first sensor and second sensor, the first sensor and described
Two sensor configurations are used for the angular speed for measuring the motor associated with the sensor, the first sensor and described second
Sensor is connected to a control unit, and described control unit is also associated with 3rd sensor, and the 3rd sensor is configured to
The speed of cyclist's propelled bicycles is measured, the dynamical system includes a measurement assembly, and the measurement assembly is configured to production
Raw measurement signal, the measurement signal represents the torque that first motor is provided；Described control unit is configured to basis
Speed and predetermined setting value and the measurement signal of the expression torque measured by the sensor, produce first and control
Signal processed and the second control signal, first control signal arrive the rotary speed control signal of first motor to provide,
Second control signal arrives the torque control signal of second motor to provide.
2. dynamical system according to claim 1, it is characterised in that described control unit includes an input, for connecing
Gear ratio signal is received, the gear ratio signal represents cyclist gear ratio selected from the gear ratio of predetermined number, institute
Control unit is stated to be additionally configured to produce first control signal according to the gear ratio signal received.
3. dynamical system according to claim 1, it is characterised in that the dynamical system includes 3rd sensor, described
3rd sensor is connected to described control unit, and is configured to measure the speed of cyclist's propelled bicycles, the control
Unit is arranged to, according to measured speed, produce gear ratio signal, and the gear ratio signal is represented from predetermined number
Selected gear ratio in gear ratio, described control unit is additionally configured to produce according to the gear ratio signal received described
First control signal.
4. the dynamical system according to Claims 2 or 3, it is characterised in that described control unit, which is arranged to produce, to be added
Signal is weighed, and for producing first control signal by the weighted signal, the weighted signal is by the institute that measures
What the angular speed and the speed reducing ratio by second motor for stating the second motor weighted received gear ratio signal and obtained adds
Signal multiplication is weighed to obtain.
5. the dynamical system according to Claims 2 or 3, it is characterised in that described control unit is arranged to compare institute
The angular speed of first motor stated the first control signal and measured, and according to determined by during this compares difference come
First control signal is adjusted, the angular speed of first motor is maintained into the angle that first control signal is forced
Speed.
6. dynamical system according to any one of claim 1 to 3, it is characterised in that described control unit is configured to use
Second control signal is produced in the auxiliary rank selected according to the cyclist.
7. dynamical system according to any one of claim 1 to 3, it is characterised in that the epicyclic train of gears includes peace
The the first asteroid group driven by the crown gear is dressed up, the first asteroid group is installed in the planetary gear mounting
On, the first asteroid group is connected to the second largest planetary set being engaged on the central gear.
8. dynamical system according to claim 7, it is characterised in that the asteroid and major planet are fixed to identical
Planet axis.
9. dynamical system according to any one of claim 1 to 3, it is characterised in that the rotor of first motor with
On the chassis that the dynamical system is installed in by means of freewheel, so as to prevent the rotor towards predetermined with first motor
The opposite direction in direction of rotation rotates.
10. dynamical system according to any one of claim 1 to 3, it is characterised in that the rotor quilt of first motor
On the bearing for being fixed on the bottom bracket axle.
11. dynamical system according to any one of claim 1 to 3, it is characterised in that second motor is by driven
Wheel is engaged on the bottom bracket axle.
12. dynamical system according to any one of claim 1 to 3, it is characterised in that the rotor quilt of first motor
It is fixed to the central gear.
13. dynamical system according to any one of claim 1 to 3, it is characterised in that first motor and described
Two motor is the electro-motor of brushless type.
14. dynamical system according to any one of claim 1 to 3, it is characterised in that described control unit, described
One motor and the epicyclic train of gears are installed in same housing.
15. dynamical system according to any one of claim 1 to 3, it is characterised in that the planetary gear mounting relies on
Freewheel is installed on the bottom bracket axle, so as to prevent the planetary gear mounting with the slow speed of the bottom bracket axle
Rotation.
16. dynamical system according to claim 4, it is characterised in that described control unit is arranged to according to described
The auxiliary rank that cyclist selectes produces second control signal.
17. dynamical system according to any one of claim 1 to 3, it is characterised in that the foot-operated vehicle is voluntarily
Car.
18. a kind of bicycle for the dynamical system being equipped with according to any one of claim 1 to 17.
19. bicycle according to claim 18, it is characterised in that first motor and the epicyclic train of gears are pacified
In the bottom bracket casket of the bicycle.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| BE2012/0284 | 2012-04-27 | ||
| BE201200284A BE1020653A4 (en) | 2012-04-27 | 2012-04-27 | POWERTRAIN. |
| PCT/EP2013/058816 WO2013160477A1 (en) | 2012-04-27 | 2013-04-26 | Power train for a pedal vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
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| EP (2) | EP2841328B1 (en) |
| JP (1) | JP6118398B2 (en) |
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| BE (1) | BE1020653A4 (en) |
| ES (1) | ES2964748T3 (en) |
| PL (1) | PL3323705T3 (en) |
| TW (1) | TWI589486B (en) |
| WO (1) | WO2013160477A1 (en) |
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| US9254890B2 (en) | 2016-02-09 |
| ES2964748T3 (en) | 2024-04-09 |
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| EP3323705C0 (en) | 2023-11-08 |
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| PL3323705T3 (en) | 2024-03-04 |
| EP3323705B1 (en) | 2023-11-08 |
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| JP6118398B2 (en) | 2017-04-19 |
| BE1020653A4 (en) | 2014-02-04 |
| WO2013160477A1 (en) | 2013-10-31 |
| EP2841328A1 (en) | 2015-03-04 |
| US20150122565A1 (en) | 2015-05-07 |
| EP3323705A1 (en) | 2018-05-23 |
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